import numpy as np

# Car and Van ==> Car class
# Pedestrian and Person_Sitting ==> Pedestrian Class
CLASS_NAME_TO_ID = {
    'Pedestrian': 0,
    'Car': 1,
    'Cyclist': 2,
    'Van': -3,
    'Truck': -3,
    'Person_sitting': -2,
    'Tram': -99,
    'Misc': -99,
    'DontCare': -1
}

colors = [[0, 255, 255], [0, 0, 255], [255, 0, 0], [255, 120, 0],
          [255, 120, 120], [0, 120, 0], [120, 255, 255], [120, 0, 255]]

# cal mean from train set
R0 = np.array([
    [0.99992475, 0.00975976, -0.00734152, 0],
    [-0.0097913, 0.99994262, -0.00430371, 0],
    [0.00729911, 0.0043753, 0.99996319, 0],
    [0, 0, 0, 1]
])

P2 = np.array([[719.787081, 0., 608.463003, 44.9538775],
               [0., 719.787081, 174.545111, 0.1066855],
               [0., 0., 1., 3.0106472e-03],
               [0., 0., 0., 0]
               ])

R0_inv = np.linalg.inv(R0)
P2_inv = np.linalg.pinv(P2)
#####################################################################################
